CN104977026A - Speed shifting interference prevention algorithm for calculating vehicle pulse coefficient K value by utilizing Beidou satellite positioning system - Google Patents
Speed shifting interference prevention algorithm for calculating vehicle pulse coefficient K value by utilizing Beidou satellite positioning system Download PDFInfo
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- CN104977026A CN104977026A CN201510458237.9A CN201510458237A CN104977026A CN 104977026 A CN104977026 A CN 104977026A CN 201510458237 A CN201510458237 A CN 201510458237A CN 104977026 A CN104977026 A CN 104977026A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a speed shifting interference prevention algorithm for calculating a vehicle pulse coefficient K value by utilizing a Beidou satellite positioning system. The algorithm comprises the following steps: S1. carrying out judgment step, namely judging whether a K value adjusting step needs to be implemented in real time; S2. carrying out calculation step, namely if the absolute value of the difference between the calculated pulse speed VP and the satellite positioning speed VS is smaller than the preset speed in a certain period, taking the average value as the effective K value; and S3. carrying out updating step, namely (1) the number M of the effective values obtained in the step S2 is smaller than or equal to N, averaging the M effective K values, and replacing the existing K value; and (2) if the number M of the effective K values obtained in the S2 is larger than N, averaging the effective K values obtained by latest N times of calculation, and replacing the existing K value. According to the algorithm, the average K value which is obtained by multiple times of calculation is taken as the approximate value of the pulse coefficient, so that the accuracy is high; the possibility of the calculation distortion of the K value caused by speed shifting of the satellite can be reduced, and the practical test effect is good.
Description
Technical field
The present invention relates to a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value.
Background technology
Define according to automobile travel recorder GB <GB/T 19056-2012>, impulse ratio is that vehicle sensors travels the pulse signal number produced in 1km distance process at vehicle, is called for short K value.Automobile travel recorder utilizes the umber of pulse and impulse ratio calculating Vehicle Speed that collect in the unit interval.
Because depot is different with the requirement of car type, the impulse ratio K value of different model vehicle is not identical, generally all do not know the impulse ratio K of vehicle when automobile travel recorder is installed, the satellite velocities needing the satellite positioning module by the installation on automobile travel recorder to export calculates impulse ratio.
Traditional computing method utilize satellite velocities inverse impulse ratio, but reckon without satellite velocities and may occur drift (speed that Satellite observation arrives and vehicle actual speed difference very large), therefore actual computation impulse ratio out and the real impulse speed of vehicle may differ greatly, inaccurate.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value is provided, solve prior art when the satellite drift speed occurred once in a while is very large, the distortion of K value may be caused, the impulse speed utilizing K value to calculate and the very large problem of the actual speed difference of vehicle.
The object of the invention is to be achieved through the following technical solutions: a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value, it comprises the following steps:
S1: determining step: according to satnav speed V
sand the impulse speed V utilizing existing K value to calculate
p, whether real-time judge enters K value regulating step: as satnav speed V
scontinue within a certain period of time to remain in same interval, and utilize the impulse speed V that existing K value is calculated
pwith satnav speed V
sthe absolute value of difference be greater than pre-set velocity, then enter step S2, wherein utilize the impulse speed V that existing K value is calculated
pformula as follows:
Vp=M/(K*T)；
In formula, T is the time, and the unit of T is hour, and M is pulse number, V
pand V
sunit be thousand ms/h;
S2: calculation procedure: utilize satnav speed V
swith pulse number M0 per second, continuous X calculates X K value second respectively, then calculates the mean value of this X K value, and utilizes described mean value calculation impulse speed V
p:
If the impulse speed V calculated
pwith satnav speed V
sthe absolute value of difference within a period of time, be less than pre-set velocity, then think that described mean value is effective K value, and enter step S3; Otherwise abandon, return step S1;
Wherein, satnav speed V is utilized
sas follows with the formula of pulse number M0 calculating K value per second:
K=3600M0/( V
S* T) ，T=1；
S3: step of updating:
(1) if the quantity M of effective K value that step S2 obtains is less than or equal to N, then by this M effective K value alternative existing K value after doing average treatment;
(2) if the quantity M of effective K value that step S2 obtains is greater than N, then utilize the nearest effective K value calculated for N time do average treatment after substitute existing K value;
S4: return step S1 at set intervals.
Described interval is for being greater than 35,000 ms/h and being less than 150,000 ms/h.
Described pre-set velocity is 2,000 ms/h.
Be 30 seconds in described certain hour.
The invention has the beneficial effects as follows:
(1) the invention solves traditional computing method and utilize satellite velocities inverse impulse ratio, but reckon without satellite velocities and may occur drift (speed that Satellite observation arrives and vehicle actual speed difference very large), therefore actual computation the impulse ratio out and real impulse speed of vehicle may differ greatly, inaccurate problem.The present invention utilizes the average K value that repeatedly calculates as the approximate value of impulse ratio, and accuracy is high, and can reduce satellite velocities and to drift about the result of the K value calculated distortion caused, actual good test effect.
(2) the present invention is according to application experience, new K value is just calculated when satisfying condition, avoid because ineffectiveness (by judging satnav speed) of data acquisition, the unnecessary property of K value adjustment (judge the extent of the impulse speed that existing K value is calculated and satellite velocities, if too little, then do not regulate), the stability of raising method and reliability.
Accompanying drawing explanation
Fig. 1 is block diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail: as shown in Figure 1, a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value, it comprises the following steps:
S1: determining step: according to satnav speed V
sand the impulse speed V utilizing existing K value to calculate
p, whether real-time judge enters K value regulating step: as satnav speed V
sbe greater than 35,000 ms/h and be less than 150,000 ms/h and continue 30 seconds, and utilizing the impulse speed V that existing K value is calculated
pwith satnav speed V
sthe absolute value of difference be greater than 2,000 ms/h, then enter step S2, wherein utilize the impulse speed V that existing K value is calculated
pformula as follows:
Vp=M/(K*T)；
In formula, T is the time, and the unit of T is hour, and M is pulse number, V
pand V
sunit be thousand ms/h;
S2: calculation procedure: utilize satnav speed V
swith pulse number M0 per second, within continuous 5 seconds, calculate 5 K values respectively, then calculate the mean value of these 5 K values, and utilize described mean value calculation impulse speed V
p:
If the impulse speed V calculated
pwith satnav speed V
sthe absolute value of difference in 30s, be less than 2,000 ms/h, then think that described mean value is effective K value, and enter step S3; Otherwise abandon, return step S1;
Wherein, satnav speed V is utilized
sas follows with the formula of pulse number M0 calculating K value per second:
K=3600M0/( V
S* T) ，T=1；
S3: step of updating:
(1) if the quantity M of effective K value that step S2 obtains is less than or equal to 10, then by this M effective K value alternative existing K value after doing average treatment;
(2) if the quantity M of effective K value that step S2 obtains is greater than 10, then utilize the nearest effective K value calculated for 10 times do average treatment after substitute existing K value;
S4: returned step S1 every 5 minutes.
Claims (4)
1. utilize big-dipper satellite positioning system to calculate an anti-speed drift algorithm of interference for vehicle impulse ratio K value, it is characterized in that: it comprises the following steps:
S1: determining step: according to satnav speed V
sand the impulse speed V utilizing existing K value to calculate
p, whether real-time judge enters K value regulating step: as satnav speed V
scontinue within a certain period of time to remain in same interval, and utilize the impulse speed V that existing K value is calculated
pwith satnav speed V
sthe absolute value of difference be greater than pre-set velocity, then enter step S2, wherein utilize the impulse speed V that existing K value is calculated
pformula as follows:
Vp=M/(K*T)；
In formula, T is the time, and the unit of T is hour, and M is pulse number, V
pand V
sunit be thousand ms/h;
S2: calculation procedure: utilize satnav speed V
swith pulse number M0 per second, continuous X calculates X K value second respectively, then calculates the mean value of this X K value, and utilizes described mean value calculation impulse speed V
p:
If the impulse speed V calculated
pwith satnav speed V
sthe absolute value of difference within a period of time, be less than pre-set velocity, then think that described mean value is effective K value, and enter step S3; Otherwise abandon, return step S1;
Wherein, satnav speed V is utilized
sas follows with the formula of pulse number M0 calculating K value per second:
K=3600M0/( V
S* T)，T=1；
S3: step of updating:
(1) if the quantity M of effective K value that step S2 obtains is less than or equal to N, then by this M effective K value alternative existing K value after doing average treatment;
(2) if the quantity M of effective K value that step S2 obtains is greater than N, then utilize the nearest effective K value calculated for N time do average treatment after substitute existing K value;
S4: return step: return step S1 at set intervals.
2. a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value according to claim 1, is characterized in that: described interval is for being greater than 35,000 ms/h and being less than 150,000 ms/h.
3. a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value according to claim 1, is characterized in that: described pre-set velocity is 2,000 ms/h.
4. a kind of anti-speed drift algorithm of interference utilizing big-dipper satellite positioning system to calculate vehicle impulse ratio K value according to claim 1, is characterized in that: be 30 seconds in described certain hour.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510458237.9A CN104977026B (en) | 2015-07-30 | 2015-07-30 | A kind of anti-speed drift algorithm of interference calculating vehicle impulse ratio K values using big-dipper satellite alignment system |
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|---|---|---|---|
| CN201510458237.9A CN104977026B (en) | 2015-07-30 | 2015-07-30 | A kind of anti-speed drift algorithm of interference calculating vehicle impulse ratio K values using big-dipper satellite alignment system |
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| CN104977026A true CN104977026A (en) | 2015-10-14 |
| CN104977026B CN104977026B (en) | 2018-08-03 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6708115B1 (en) * | 1999-03-08 | 2004-03-16 | Kabushiki Kaisha Tokai-Rika-Denki-Seisakusho | Vehicle speedometer |
| CN102980592A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) longitude and latitude |
| CN102980589A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed |
| CN103969465A (en) * | 2014-05-23 | 2014-08-06 | 航天科技控股集团股份有限公司 | Automatic pulse factor calibrating method for vehicle-mounted terminal Beidou satellite positioning |
-
2015
- 2015-07-30 CN CN201510458237.9A patent/CN104977026B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6708115B1 (en) * | 1999-03-08 | 2004-03-16 | Kabushiki Kaisha Tokai-Rika-Denki-Seisakusho | Vehicle speedometer |
| CN102980592A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) longitude and latitude |
| CN102980589A (en) * | 2012-11-27 | 2013-03-20 | 厦门雅迅网络股份有限公司 | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed |
| CN103969465A (en) * | 2014-05-23 | 2014-08-06 | 航天科技控股集团股份有限公司 | Automatic pulse factor calibrating method for vehicle-mounted terminal Beidou satellite positioning |
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